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Navigation System of a Differential-drive Wheeled Mobile Robot Using a GA-Tuned Kinematic Controller


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DOI: https://doi.org/10.15866/ireaco.v17i1.24527

Abstract


This paper presents an autonomous navigation system of Differential-Drive Wheeled Robot (DDWR) that is divided in to tracking a trajectory and static and dynamic obstacles avoidance. Three fuzzy controllers are used for this navigation system; tracking a desired path autonomously, which is obtained based on changing the robot’s heading-angle toward the next desired step in the desired path using a tracking fuzzy controller. The second fuzzy controller is responsible for static obstacles avoidance based on changing the robo heading-angle and the third one is used to avoid dynamic obstacles based on changing the robot’s heading-angle and velocity. A tuned Kinematic Controller (KC) using the Genetic Algorithm (GA) is used for enhancing the trajectory-tracking task. An EV3 robot is utilized and three types of sensors are used; an accelerometer sensor, gyroscope sensor, and ultrasonic sensor. The results obtained verify that the robot is able to track a trajectory and avoid both static and dynamic obstacles correctly.
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Keywords


Fuzzy Controller; Genetic Algorithm; Navigation; Static and Dynamic Obstacles; Autonomous Differential-Drive Robot; Kinematic Controller

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References


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